From ec7015e4de377a106e481ab01ae6b3158288c580 Mon Sep 17 00:00:00 2001 From: Thibault Poignonec Date: Thu, 8 Aug 2024 14:24:01 +0200 Subject: [PATCH] update clutching rule for Omega 6 --- .../fd_clutch_broadcaster/src/fd_clutch_broadcaster.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/fd_controllers/fd_clutch_broadcaster/src/fd_clutch_broadcaster.cpp b/fd_controllers/fd_clutch_broadcaster/src/fd_clutch_broadcaster.cpp index 3a9f320..74f417d 100644 --- a/fd_controllers/fd_clutch_broadcaster/src/fd_clutch_broadcaster.cpp +++ b/fd_controllers/fd_clutch_broadcaster/src/fd_clutch_broadcaster.cpp @@ -141,7 +141,8 @@ controller_interface::return_type FdClutchBroadcaster::update( clutch_state = (read_value > 0.5) ? true : false; } else { // Clutched (workspace engaged) if handle angle is small (i.e., physically clutched) - clutch_state = (read_value < 0.1) ? true : false; + // E.g., 7th "joint" of Omega 6 / Sigma 7 + clutch_state = (read_value > 0.03) ? true : false; } // Publish clucth